²é¿´: 861  |  »Ø¸´: 5
µ±Ç°Ö»ÏÔʾÂú×ãÖ¸¶¨Ìõ¼þµÄ»ØÌû£¬µã»÷ÕâÀï²é¿´±¾»°ÌâµÄËùÓлØÌû

ÓôÃÆµÄGENIUS

½ð³æ (СÓÐÃûÆø)

[ÇóÖú] ´ó¼ÒÌÖÂÛÏÂÈçºÎͨ¹ýÒ»×éͼÏñÐòÁÐÇóÈ¡Ïà»úµÄÒÆ¶¯¹ì¼£°¡£¿ ÒÑÓÐ1È˲ÎÓë

RT£¬Ð¡µÜ¿´ÁËЩÂÛÎÄ£¬µ«¹ý³Ì½²µÄ¶¼²»ÊǺÜÇå³þ£¬ÏëÇë´óÉñ°ïæ½â´ðÏ£ºµ±Á½ÕÅͼÏñµÄÆ¥Åäµã¶ÔÇó³öÀ´ºó£¬ÈçºÎ¼ÆËãÅÄÉãÕâÁ½ÕÅͼÏñʱÏà»úµÄÏà¶Ôλ×ËÄØ£¿
»Ø¸´´ËÂ¥

» ²ÂÄãϲ»¶

ÒÑÔÄ   »Ø¸´´ËÂ¥   ¹Ø×¢TA ¸øTA·¢ÏûÏ¢ ËÍTAºì»¨ TAµÄ»ØÌû

ÓôÃÆµÄGENIUS

½ð³æ (СÓÐÃûÆø)

ÒýÓûØÌû:
2Â¥: Originally posted by lxc_422 at 2014-12-25 10:09:32
First, you should compute the essential matrix E.
Second, according to E=xR, if you know the translation matrix t and the rotation matrix R, then you could obtain the pose of the camera.
However,  ...

·Ç³£¸Ðл£¬Èç¹ûÏÈÓÃÕÅÕýÓѵķ½·¨½«Ïà»ú±ê¶¨ºÃ£¬²¢µÃµ½ÁËÏà¹Ø²ÎÊý£¬ÊDz»ÊÇֻҪͨ¹ýÁ½ÕÅͼÏñµÄÆ¥Åäµã¶ÔÇó±¾ÖʾØÕóE¾Í¿ÉÒÔÁË£¿
3Â¥2014-12-25 11:41:48
ÒÑÔÄ   »Ø¸´´ËÂ¥   ¹Ø×¢TA ¸øTA·¢ÏûÏ¢ ËÍTAºì»¨ TAµÄ»ØÌû
²é¿´È«²¿ 6 ¸ö»Ø´ð

lxc_422

гæ (СÓÐÃûÆø)

¡¾´ð°¸¡¿Ó¦Öú»ØÌû

¡ï ¡ï ¡ï ¡ï ¡ï ¡ï ¡ï ¡ï ¡ï ¡ï ¡ï ¡ï ¡ï ¡ï ¡ï ¡ï ¡ï ¡ï ¡ï ¡ï ¡ï ¡ï ¡ï ¡ï ¡ï
¸Ðл²ÎÓ룬ӦÖúÖ¸Êý +1
ÓôÃÆµÄGENIUS: ½ð±Ò+5, ¡ï¡ï¡ïºÜÓаïÖú 2014-12-25 11:42:00
ÓôÃÆµÄGENIUS: ½ð±Ò+10 2014-12-25 18:12:01
ÓôÃÆµÄGENIUS: ½ð±Ò+10 2015-01-03 17:33:40
First, you should compute the essential matrix E.
Second, according to E=[t]xR, if you know the translation matrix t and the rotation matrix R, then you could obtain the pose of the camera.
However, you only have two images at hand. We assume that the camera are uncalibrated, therefore, you need to solve the fundamental matrix F from the corresponding points.
Since E=KT*F*K, you should compute the calibration matrix K. We know that K only could be determined from autocalibration(or self-calibration), because the camera has not been calibrated.
Hence, if you solved the problem of camera autocalibration and obtained K, then you could easily obtain the pose of the camera.
How could we solve the autocalibration problem? The idea of auto calibrating a camera originated in the literature titled "Camera self-calibration: Theory and experiments" by Faugeras, Luong and Maybank in 1992.
You could find out more useful information from this idea.
È«ÐÄÓÃÓÚ¿ÆÑУ¬²»ÄÜÓÐË¿ºÁËÉи¡£Ñ§ÊõÊÇÖ÷Ì⣬´´ÐÂÊÇÉúÃü¡£
2Â¥2014-12-25 10:09:32
ÒÑÔÄ   »Ø¸´´ËÂ¥   ¹Ø×¢TA ¸øTA·¢ÏûÏ¢ ËÍTAºì»¨ TAµÄ»ØÌû

lxc_422

гæ (СÓÐÃûÆø)

¡¾´ð°¸¡¿Ó¦Öú»ØÌû

Yes, you are right!
If you used Zhang's method to obtain the interal parameters of the camera(i.e. the calibration matrix K), then it is simple to solve this problem.
È«ÐÄÓÃÓÚ¿ÆÑУ¬²»ÄÜÓÐË¿ºÁËÉи¡£Ñ§ÊõÊÇÖ÷Ì⣬´´ÐÂÊÇÉúÃü¡£
4Â¥2014-12-25 12:50:37
ÒÑÔÄ   »Ø¸´´ËÂ¥   ¹Ø×¢TA ¸øTA·¢ÏûÏ¢ ËÍTAºì»¨ TAµÄ»ØÌû

lxc_422

гæ (СÓÐÃûÆø)

¡¾´ð°¸¡¿Ó¦Öú»ØÌû

I suggest you to add your question into the BBS.
It make others can read it, maybe this could help them while encountering the similar problem.
È«ÐÄÓÃÓÚ¿ÆÑУ¬²»ÄÜÓÐË¿ºÁËÉи¡£Ñ§ÊõÊÇÖ÷Ì⣬´´ÐÂÊÇÉúÃü¡£
5Â¥2014-12-25 12:55:57
ÒÑÔÄ   »Ø¸´´ËÂ¥   ¹Ø×¢TA ¸øTA·¢ÏûÏ¢ ËÍTAºì»¨ TAµÄ»ØÌû
×î¾ßÈËÆøÈÈÌûÍÆ¼ö [²é¿´È«²¿] ×÷Õß »Ø/¿´ ×îºó·¢±í
[¿¼ÑÐ] 287Çóµ÷¼Á +10 ³¿»èÏßÓëÐǺ£ 2026-03-19 11/550 2026-03-25 10:35 by userper
[¿¼ÑÐ] 303Çóµ÷¼Á +3 À¶É½Ô 2026-03-25 3/150 2026-03-25 10:04 by ÎíÉ¢ºóÏàÓölc
[¿¼ÑÐ] 085601Çóµ÷¼Á×Ü·Ö293Ó¢Ò»Êý¶þ +3 ¸ÖÌú´óÅÚ 2026-03-24 3/150 2026-03-24 22:03 by bingxueer79
[¿¼ÑÐ] ²ÄÁϵ÷¼Á +6 Æ¥¿Ëi 2026-03-23 6/300 2026-03-24 21:09 by greychen00
[¿¼ÑÐ] 300·Ö£¬²ÄÁÏ£¬Çóµ÷¼Á£¬Ó¢Ò»Êý¶þ +5 ³¬ÔÞµÄ 2026-03-24 5/250 2026-03-24 21:07 by ÐÇ¿ÕÐÇÔÂ
[¿¼ÑÐ] 0703»¯Ñ§µ÷¼Á£¬Çóµ¼Ê¦ÊÕ +7 ÌìÌìºÃÔËÀ´Éϰ¶° 2026-03-24 7/350 2026-03-24 20:26 by peike
[¿¼ÑÐ] ²ÄÁÏ¿¼Ñе÷¼ÁÉú +3 »ÆÁ»Ò»ÃÎǧÄê 2026-03-24 3/150 2026-03-24 17:00 by barlinike
[¿¼ÑÐ] ²ÄÁÏ292µ÷¼Á +8 éÙËÌ˼ÃÀÈË 2026-03-23 8/400 2026-03-24 16:33 by laoshidan
[¿¼²©] É격26Äê +4 °Ë6°Ë68 2026-03-19 4/200 2026-03-24 15:49 by СBenºÇºÇ
[¿¼ÑÐ] 307Çóµ÷¼Á +5 ³¬¼¶ÒÁ°º´óÍõ 2026-03-24 5/250 2026-03-24 15:46 by ÐÇ¿ÕÐÇÔÂ
[¿¼ÑÐ] 307Çóµ÷¼Á +3 ÓàÒâÇä 2026-03-21 6/300 2026-03-24 15:03 by ÓàÒâÇä
[¿¼ÑÐ] 344Çóµ÷¼Á +3 desto 2026-03-24 3/150 2026-03-24 10:09 by ²«»÷518
[¿¼ÑÐ] 276Çóµ÷¼Á¡£ÓаëÄêµç³ØºÍ°ëÄê¸ß·Ö×Óʵϰ¾­Àú +9 ²ÄÁÏѧ257Çóµ÷¼Á 2026-03-23 10/500 2026-03-24 07:36 by wangy0907
[¿¼ÑÐ] 070300£¬Ò»Ö¾Ô¸±±º½320Çóµ÷¼Á +3 Jerry0216 2026-03-22 5/250 2026-03-23 09:16 by ¡£¡£ÌÃÌÃ
[¿¼ÑÐ] 298Çóµ÷¼ÁÒ»Ö¾Ô¸211 +3 Éϰ¶6666@ 2026-03-20 3/150 2026-03-22 15:50 by ColorlessPI
[¿¼ÑÐ] ¿¼Ñе÷¼Á +3 ºôºô£¿~+123456 2026-03-21 3/150 2026-03-21 20:04 by Î޼ʵIJÝÔ­
[¿¼ÑÐ] ÄϾ©´óѧ»¯Ñ§376Çóµ÷¼Á +3 hisfailed 2026-03-19 6/300 2026-03-20 23:43 by hisfailed
[¿¼ÑÐ] 295²ÄÁÏÇóµ÷¼Á£¬Ò»Ö¾Ô¸Î人Àí¹¤085601ר˶ +5 Charlieyq 2026-03-19 5/250 2026-03-20 20:35 by JourneyLucky
[¿¼ÑÐ] 353Çóµ÷¼Á +3 À­¹³²»Ðí±ä 2026-03-20 3/150 2026-03-20 19:56 by JourneyLucky
[¿¼ÑÐ] Ò»Ö¾Ô¸ÄÏÀí¹¤085701»·¾³302Çóµ÷¼ÁԺУ +3 ¿ûè÷ÎÀ¶Ó 2026-03-20 3/150 2026-03-20 19:28 by zhukairuo
ÐÅÏ¢Ìáʾ
ÇëÌî´¦ÀíÒâ¼û